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float32
0
17.3
frame_index
int64
0
345
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int64
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3
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int64
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1.22k
task_index
int64
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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4.05
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4.1
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4.15
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4.2
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0
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[ -0.3245753347873688, -0.2882221043109894, -0.3545543849468231, -2.0771806240081787, 0.21463613212108612, 1.844389796257019, -0.2088404893875122, 1 ]
4.25
85
0
85
0
[ 0.029251623898744583, 0.0011060414835810661, -0.020540405064821243, 0.01721394620835781, -0.01346894446760416, 0.004382682964205742, 0.9997266530990601, 0.8999791741371155, 0, 0 ]
[ -0.32328566908836365, -0.28452253341674805, -0.3546472489833832, -2.07828426361084, 0.21628841757774353, 1.8460636138916016, -0.21023456752300262, 1 ]
4.3
86
0
86
0
[ 0.010730667039752007, 0.013537546619772911, -0.0161302350461483, 0.002845515962690115, 0.013446914963424206, 0.0021381950937211514, 0.9998318552970886, 0.9009264707565308, 0, 0 ]
[ -0.32128846645355225, -0.28126654028892517, -0.35458943247795105, -2.0786635875701904, 0.21913306415081024, 1.847410798072815, -0.21210619807243347, 1 ]
4.35
87
0
87
0
[ 0.009652209468185902, 0.008653420023620129, -0.021338149905204773, 0.0015390141634270549, 0.010024333372712135, 0.024230804294347763, 0.9996421337127686, 0.8990281224250793, 0, 0 ]
[ -0.3199441432952881, -0.2765361964702606, -0.354771226644516, -2.078484058380127, 0.22522462904453278, 1.8510584831237793, -0.21518167853355408, 1 ]
4.4
88
0
88
0
[ 0.007786535657942295, -0.00013994332402944565, -0.019511189311742783, 0.00865403562784195, 0.01396390050649643, 0.0260221678763628, 0.9995212554931641, 0.8995339870452881, 0, 0 ]
[ -0.31776687502861023, -0.2732617259025574, -0.3542196750640869, -2.080091953277588, 0.22583210468292236, 1.8533843755722046, -0.21523530781269073, 1 ]
4.45
89
0
89
0
[ -0.0015961602330207825, 0.015330212190747261, -0.010651425458490849, 0.002528128679841757, -0.015483158640563488, 0.03320607542991638, 0.9993302226066589, 0.8993279933929443, 0, 0 ]
[ -0.3157948851585388, -0.26986393332481384, -0.35484281182289124, -2.0806357860565186, 0.22609159350395203, 1.8539706468582153, -0.2176533341407776, 1 ]
4.5
90
0
90
0
[ 0.03054259717464447, 0.00647208234295249, -0.029257290065288544, 0.02152230218052864, -0.0033244139049202204, 0.016043230891227722, 0.9996191263198853, 0.899103045463562, 0, 0 ]
[ -0.3153024911880493, -0.2661348879337311, -0.35497331619262695, -2.080916404724121, 0.22740024328231812, 1.85406494140625, -0.22366110980510712, 1 ]
4.55
91
0
91
0
[ 0.012967130169272423, 0.011360843665897846, -0.028395868837833405, 0.007004600018262863, 0.019486229866743088, 0.010240255855023861, 0.9997206330299377, 0.8990159034729004, 0, 0 ]
[ -0.3139629364013672, -0.2646488845348358, -0.3546072840690613, -2.083550453186035, 0.22945307195186615, 1.855900764465332, -0.22827725112438202, 1 ]
4.6
92
0
92
0
[ 0.014154653996229172, 0.0051797800697386265, -0.02270042710006237, 0.0020883544348180294, 0.005011666566133499, 0.017577558755874634, 0.9998010993003845, 0.8991221785545349, 0, 0 ]
[ -0.31252333521842957, -0.25999122858047485, -0.3546190559864044, -2.08375883102417, 0.2346106320619583, 1.8586450815200806, -0.23185421526432037, 1 ]
4.65
93
0
93
0
[ 0.002630541566759348, -0.0005947640165686607, -0.024598978459835052, -0.001974401529878378, 0.02214801497757435, 0.005010394379496574, 0.9997269511222839, 0.9001562595367432, 0, 0 ]
[ -0.31061723828315735, -0.25500965118408203, -0.35432466864585876, -2.0849695205688477, 0.2353563755750656, 1.86214280128479, -0.23263300955295563, 1 ]
4.7
94
0
94
0
[ 0.003115999046713114, 0.021952014416456223, -0.009469746612012386, -0.005841899197548628, 0.00009629130363464355, 0.03005884401500225, 0.9995253682136536, 0.8986088633537292, 0, 0 ]
[ -0.3092630207538605, -0.25098466873168945, -0.35452279448509216, -2.086379051208496, 0.2359817624092102, 1.8650387525558472, -0.2349708527326584, 1 ]
4.75
95
0
95
0
[ 0.03269337862730026, 0.013156892731785774, -0.015809932723641396, 0.025442099198698997, -0.0006071955431252718, 0.015518121421337128, 0.9995395541191101, 0.8995996713638306, 0, 0 ]
[ -0.30850517749786377, -0.2489946037530899, -0.35440823435783386, -2.0881845951080322, 0.23586708307266235, 1.866132378578186, -0.23508033156394958, 1 ]
4.8
96
0
96
0
[ 0.01989183947443962, 0.005582626909017563, -0.01906760036945343, 0.0001231193309649825, 0.020984375849366188, 0.010322721675038338, 0.9997179508209229, 0.8995466232299805, 0, 0 ]
[ -0.30560770630836487, -0.24789254367351532, -0.35415008664131165, -2.091132879257202, 0.2355940341949463, 1.86798095703125, -0.23622092604637146, 1 ]
4.85
97
0
97
0
[ 0.0108279287815094, 0.012761958874762058, -0.019369764253497124, 0.002251432742923498, 0.017368415370583534, 0.0064584631472826, 0.9998014569282532, 0.8991233110427856, 0, 0 ]
[ -0.30231618881225586, -0.24299637973308563, -0.35446539521217346, -2.089569091796875, 0.2383086085319519, 1.8681986331939697, -0.23767639696598053, 1 ]
4.9
98
0
98
0
[ 0.013367436826229095, -0.003970650490373373, -0.0185320433229208, 0.00604212237522006, -0.008236154913902283, 0.00440442468971014, 0.9998325109481812, 0.9024109244346619, 0, 0 ]
[ -0.29958489537239075, -0.2379508912563324, -0.3542822599411011, -2.089416980743408, 0.23867380619049072, 1.869083285331726, -0.23774443566799164, 1 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "single_arm_franka",
    "total_episodes": 4,
    "total_frames": 1218,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:4"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "r_x",
                "r_y",
                "r_z",
                "r_qx",
                "r_qy",
                "r_qz",
                "r_qw",
                "r_gripper",
                "kp",
                "kd"
            ],
            "shape": [
                10
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper"
            ],
            "shape": [
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        },
        "observation.images.cam_3_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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                "channels"
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            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_4_wrist": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_2_scene": {
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            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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